EP1544988A1 - Moteur lineaire sans noyau - Google Patents

Moteur lineaire sans noyau Download PDF

Info

Publication number
EP1544988A1
EP1544988A1 EP03792669A EP03792669A EP1544988A1 EP 1544988 A1 EP1544988 A1 EP 1544988A1 EP 03792669 A EP03792669 A EP 03792669A EP 03792669 A EP03792669 A EP 03792669A EP 1544988 A1 EP1544988 A1 EP 1544988A1
Authority
EP
European Patent Office
Prior art keywords
coil
mounting table
slider
linear motor
coils
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
EP03792669A
Other languages
German (de)
English (en)
Other versions
EP1544988B1 (fr
EP1544988A4 (fr
Inventor
Toru c/o KABUSHIKI KAISHA YASKAWA DENKI SHIKAYAMA
Nobuyuki c/o KABUSHIKI KAISHA YASKAWA DENKI IRIE
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Yaskawa Electric Corp
Original Assignee
Yaskawa Electric Corp
Yaskawa Electric Manufacturing Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Yaskawa Electric Corp, Yaskawa Electric Manufacturing Co Ltd filed Critical Yaskawa Electric Corp
Publication of EP1544988A1 publication Critical patent/EP1544988A1/fr
Publication of EP1544988A4 publication Critical patent/EP1544988A4/fr
Application granted granted Critical
Publication of EP1544988B1 publication Critical patent/EP1544988B1/fr
Anticipated expiration legal-status Critical
Expired - Lifetime legal-status Critical Current

Links

Images

Classifications

    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K41/00—Propulsion systems in which a rigid body is moved along a path due to dynamo-electric interaction between the body and a magnetic field travelling along the path
    • H02K41/02—Linear motors; Sectional motors
    • H02K41/03—Synchronous motors; Motors moving step by step; Reluctance motors
    • H02K41/031—Synchronous motors; Motors moving step by step; Reluctance motors of the permanent magnet type
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K15/00—Methods or apparatus specially adapted for manufacturing, assembling, maintaining or repairing of dynamo-electric machines
    • H02K15/10—Applying solid insulation to windings, stators or rotors
    • H02K15/105—Applying solid insulation to windings, stators or rotors to the windings
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K3/00—Details of windings
    • H02K3/46—Fastening of windings on the stator or rotor structure
    • H02K3/47—Air-gap windings, i.e. iron-free windings
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K5/00—Casings; Enclosures; Supports
    • H02K5/04—Casings or enclosures characterised by the shape, form or construction thereof
    • H02K5/20—Casings or enclosures characterised by the shape, form or construction thereof with channels or ducts for flow of cooling medium
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K5/00—Casings; Enclosures; Supports
    • H02K5/04—Casings or enclosures characterised by the shape, form or construction thereof
    • H02K5/22—Auxiliary parts of casings not covered by groups H02K5/06-H02K5/20, e.g. shaped to form connection boxes or terminal boxes
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K9/00—Arrangements for cooling or ventilating
    • H02K9/19—Arrangements for cooling or ventilating for machines with closed casing and closed-circuit cooling using a liquid cooling medium, e.g. oil

Definitions

  • the present invention relates to a coreless linear motor for use in constant-speed feeding or highly accurate positioning which requires thrust ripple and low heat generation.
  • FIG. 4 is a perspective view which shows only a slider and a stator of a coreless linear motor of the related art.
  • Fig. 5 is a cross-sectional view as seen in a traveling direction of the slider.
  • the stator 1 is made up of permanent magnets 2 which form a plurality of magnetic poles, back yokes 3 to which the plurality of permanent magnets are affixed and a yoke supporting table 4 which fixedly support the two back yokes 3 which are disposed on both left and right sides thereof along one side thereof.
  • the permanent magnets 2 are disposed at a pitch of ⁇ such that the polarities of the permanent magnets 2 which face each other inwardly of the two back yokes 3 and the polarities of the permanent magnets 2 which are adjacent to each other in the traveling direction of the slider becomes different.
  • the slider 10 is made up of an armature winding 11 and a slider mounting table 12 having a concave cross section in which the armature winding 11 is fixed. Since it is mounted on a table or the like which constitutes a load, the slider mounting table 12 is made of a metallic material such as aluminum which ensures a strength.
  • the armature winding 11 is disposed in such a manner as to provide a predetermined gap between the permanent magnets 2 disposed on the interior side of each of the two back yokes 3 and itself.
  • the armature winding 11 is made up of a plurality of coils 13.
  • a coil end portion which corresponds to an upper side of the coil 13 is referred to as a coil upper side 14 and a coil end portion which corresponds to a lower side of the coil 13 is referred to as a coil lower side 15.
  • the coils 13 are connected to each other via the coil upper sides 14 and distal ends of the coils 13 are connected with lead wires 16.
  • a space for connecting the coils 13 to each other and a space for the lead wires 16 are provided in the concavity of the slider mounting table 12.
  • the armature winding 11 and the interior of the concavity of the slider mounting table 12 are covered with a molded resin 17, so that the armature winding 11 and the slider mounting table 12 cooperate together to make up the slider 10.
  • the slider is made to freely move in the traveling directions thereof by a supporting mechanism such as a linear guide, not shown.
  • the molded resin 17 is filled in the wide concavity provided between the slider mounting table 12 and the coils 13 for the purpose of connecting process. Namely, the molded resin 17 constitutes a large thermal resistance, which disturbs the conduction of heat to the slider mounting table 12, and due to this, the increase in the temperature of the coils 13 became extremely large. While epoxy resin (having a heat conductivity of 1.5W/mK), which conducts heat well and contains, for example, alumina, has been used for the molded resin 17 with a view to preventing such a heat increase as much as possible, no sufficient effect has been obtained.
  • the invention is made with a view to solving the problem, and an object thereof is to provide a coreless linear motor which can suppress the increase in the temperature of an armature winding.
  • a coreless linear motor in which a slider is made up of an armature winding which comprises a plurality of coils and a slider mounting table which supports the armature winding and a stator is made up of permanent magnets which form a plurality of magnetic poles and back yokes, and, furthermore, in which both left and right sides of the armature winding is sandwiched by the permanent magnets via a gap,
  • the coreless linear motor being characterized in that a concave portion is provided in a lower side of the slider mounting table, and in that a coil upper side which corresponds to an upper side of the coil is inserted in the interior of the concave portion in the slider mounting table and a space is provided in the vicinity of a coil lower side which corresponds to a lower side of the coil for performing a connecting process between the coils or the coil and a lead wire.
  • a space for performing a connecting process is provided directly below the coil lower side.
  • a space for performing a connecting process is provided on both left and right sides of the coil lower side.
  • a cooling passageway is provided in the slider mounting table for the passage of a refrigerant or air.
  • Fig. 1 shows a coreless linear motor according to a first embodiment of the invention, in which Fig. 1A is a cross-sectional view of the coreless linear motor as seen in a traveling direction thereof, and Fig. 1B is a sectional view of a slider as seen from the side thereof.
  • Fig. 2 is a corresponding view to Fig. 1A which shows a coreless linear motor according to a second embodiment of the invention.
  • Fig. 3 is a corresponding view to Fig. 1A which shows a coreless linear motor according to a third embodiment of the invention.
  • Fig. 4 is a perspective view of a coreless linear motor according to the related art.
  • Fig. 5 is a corresponding view to Fig. 1A which shows the coreless linear motor according to the related art.
  • the invention is similar to the construction shown in Figs. 4, 5 except for the construction of a slider thereof. Consequently, the description of a stator will be omitted.
  • Figs. 1A, 1B are drawings showing a first embodiment, in which Fig. 1A is a cross-sectional view as seen in a traveling direction of a slider, and Fig. 1B is a sectional view of the slider as seen from the side thereof.
  • the slider 10 in the first embodiment is made up of an armature winding 11 including a plurality of coils 13, a slider mounting table 12 in which the armature winding 11 is fixedly supported, lead wires 16 and a molded resin 17 which covers the armature winding 11 and the whole of the lead wires 16.
  • the slider is shown as being made up of three coils of concentrated winding, which constitutes a minimum number of coils required. A space is provided directly below coil lower sides 15 of the three coils for performing the connection between the coils 13 or of the coils 13 with the lead wires 16.
  • the slider mounting table 12 is made of a metallic material such as aluminum which can ensure a strength.
  • the slider mounting table 12 is formed so as to have a concave cross-sectional shape, and coil upper sides 14 of the coils 13 are inserted into a concave portion so formed in the slider mounting table 12.
  • the concave portion in the slider mounting table 12 is machined so as to have a channel which matches portions of the coil upper sides 14 which are inserted thereinto.
  • the coil upper sides 14 can be made to approach the slider mounting table 12. Namely, the thermal resistance therebetween is made to become extremely small, so that heat generated in the coils 13 can easily escape to the slider mounting table 12. As a result, the increase in the temperature of the coils 13 can be suppressed largely.
  • the second embodiment is such as to related to the third aspect of the invention.
  • Fig. 2 shows a cross section as seen in the traveling direction of a slider.
  • the second embodiment differs from the first embodiment in that the space for a connecting process is provided on the left and right sides of the coil lower sides 15. As a result, the cross section of a slider 10 becomes an I-shape.
  • a further advantage of the second embodiment is that since the spaces for a connecting process are positioned directly below the permanent magnets 2, the dimension of the slider in the height direction can be reduced.
  • the third embodiment is such as to relate to the fourth aspect of the invention.
  • Fig. 3 is a cross section as seen in a traveling direction of a slider.
  • the third embodiment differs from the first or third embodiment in that a refrigerant passageway 18 is provided in a slider mounting table 12 for the passage of a refrigerant or air.
  • the invention can be applied to a technical field which produces and provides a coreless linear motor for use in constant-speed feeding or highly accurate positioning which requires thrust ripple and low heat generation.
EP03792669A 2002-08-20 2003-08-11 Moteur lineaire sans noyau Expired - Lifetime EP1544988B1 (fr)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
JP2002239618A JP3870413B2 (ja) 2002-08-20 2002-08-20 コアレスリニアモータ
JP2002239618 2002-08-20
PCT/JP2003/010234 WO2004019470A1 (fr) 2002-08-20 2003-08-11 Moteur lineaire sans noyau

Publications (3)

Publication Number Publication Date
EP1544988A1 true EP1544988A1 (fr) 2005-06-22
EP1544988A4 EP1544988A4 (fr) 2008-07-02
EP1544988B1 EP1544988B1 (fr) 2010-04-21

Family

ID=31943864

Family Applications (1)

Application Number Title Priority Date Filing Date
EP03792669A Expired - Lifetime EP1544988B1 (fr) 2002-08-20 2003-08-11 Moteur lineaire sans noyau

Country Status (8)

Country Link
US (1) US7531923B2 (fr)
EP (1) EP1544988B1 (fr)
JP (1) JP3870413B2 (fr)
KR (1) KR100785192B1 (fr)
CN (1) CN100438281C (fr)
DE (1) DE60332251D1 (fr)
TW (1) TWI288521B (fr)
WO (1) WO2004019470A1 (fr)

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2009019192A1 (fr) * 2007-08-03 2009-02-12 Siemens Aktiengesellschaft Partie primaire d'un moteur linéaire électrique dotée d'un dispositif de refroidissement
CN102142761A (zh) * 2010-02-02 2011-08-03 未来产业株式会社 直线电机用动子及其制造方法、包含该动子的直线电机
EP2808986A1 (fr) * 2013-05-27 2014-12-03 Etel S. A.. Corps de refroidissement pour moteur linéaire

Families Citing this family (31)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP3870413B2 (ja) * 2002-08-20 2007-01-17 株式会社安川電機 コアレスリニアモータ
JP4672315B2 (ja) 2004-09-06 2011-04-20 東芝機械株式会社 リニアモータおよびリニア移動ステージ装置
JP4886355B2 (ja) * 2006-05-02 2012-02-29 日本トムソン株式会社 可動マグネット型リニアモータを内蔵したスライド装置
JP5240543B2 (ja) * 2007-03-28 2013-07-17 日立金属株式会社 可動コイル型リニアモータの組立方法
JP4819745B2 (ja) * 2007-05-08 2011-11-24 住友重機械工業株式会社 リニアモータ及びリニアモータの製造方法
TWI408873B (zh) * 2010-01-25 2013-09-11 Chieftek Prec Co Ltd 線性馬達線圈組合件構造
US8154156B2 (en) 2010-03-16 2012-04-10 Chieftek Precision Co., Ltd. Coil assembly for linear motor
CN102201713B (zh) * 2010-03-22 2015-05-13 直得科技股份有限公司 线性马达线圈组合件构造
CN101976927B (zh) * 2010-10-28 2012-07-11 哈尔滨工业大学 高精度高效率直线往复驱动系统
US8922068B2 (en) * 2011-07-11 2014-12-30 Baldor Electric Company Linear drive motor with improved bearing system
US8791608B2 (en) * 2011-07-11 2014-07-29 Baldor Electric Company Primary for linear drive motor with solid steel stacks
JP5648873B2 (ja) * 2013-01-24 2015-01-07 株式会社安川電機 リニアモータ
JP6067421B2 (ja) * 2013-03-01 2017-01-25 住友重機械工業株式会社 リニアモータ
CN104702012B (zh) * 2013-12-10 2017-05-31 上海微电子装备有限公司 线圈结构及直线电机
TWI514725B (zh) * 2013-12-19 2015-12-21 Delta Electronics Inc 線性馬達及其適用之馬達組
CN103997186B (zh) * 2014-06-06 2017-10-03 肖俊东 直线电机、盘式旋转电机和电机平台
US9996071B2 (en) * 2014-06-24 2018-06-12 Western Digital Technologies, Inc. Moveable slider for use in a device assembly process
JP6318945B2 (ja) * 2014-07-24 2018-05-09 株式会社安川電機 コアレスリニアモータ電機子、コアレスリニアモータ及びコアレスリニアモータ電機子の製造方法
CN105634240A (zh) * 2014-10-28 2016-06-01 鸿富锦精密工业（深圳）有限公司 线性马达
JP2016171739A (ja) * 2015-03-09 2016-09-23 住友重機械工業株式会社 リニアモータ、ステージ装置
EP3324521B1 (fr) * 2016-11-16 2020-04-15 Etel S. A.. Plaque de refroidissement pour moteur linéaire
EP3457530B1 (fr) 2017-09-18 2021-11-24 Etel S.A. Jeu d'éléments, rotor et moteur linéaire sans fer
EP3471245B1 (fr) * 2017-10-12 2020-11-18 Etel S.A. Partie secondaire pour un moteur linéaire sans fer et moteur linéaire sans fer
EP3567708B1 (fr) 2018-05-09 2022-03-09 Etel S.A. Partie secondaire pour un moteur linéaire sans fer
CN108880181A (zh) * 2018-06-13 2018-11-23 深圳市歌尔泰克科技有限公司 一种直线电机
EP3667878B1 (fr) 2018-12-12 2023-09-13 Etel S.A. Moteur linéaire ainsi que pièce secondaire pour un moteur linéaire
DE102019006119A1 (de) * 2019-08-30 2021-03-04 Martin Georg Krug Elektrischer Antrieb und Kraftwagen
CN111564947A (zh) * 2020-05-19 2020-08-21 广州市昊志机电股份有限公司 一种无铁芯圆弧直线电机和驱动装置
CN113315337B (zh) * 2021-04-29 2022-08-12 天津中德应用技术大学 一种选配式双动子永磁直线电机系统
EP4092878A1 (fr) 2021-05-19 2022-11-23 Etel S.A. Bobine haute performance pour machine électrique et ensemble bobine pour un moteur linéaire
DE102021127495A1 (de) 2021-10-22 2023-04-27 Marco Systemanalyse Und Entwicklung Gmbh Linearmotor

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB2233835A (en) * 1989-07-15 1991-01-16 Matsushita Electric Works Ltd Commutated moving-cell linear motor
JP2001078420A (ja) * 1999-08-13 2001-03-23 Mire Kk 可動電機子型リニアモータとその電機子及びその電機子の組立方法
JP2002051530A (ja) * 2000-07-11 2002-02-15 Hiwin Mikrosystem Corp リニアモーター

Family Cites Families (16)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE2654075A1 (de) * 1976-11-29 1978-06-01 Papst Motoren Kg Linearmotor
JPH07123346B2 (ja) 1992-11-17 1995-12-25 株式会社精工舎 可動マグネット形リニア直流モータ
JPH07322595A (ja) * 1994-05-24 1995-12-08 Shicoh Eng Co Ltd リニア直流モ−タ
US5703418A (en) * 1996-03-22 1997-12-30 Northern Magnetics, Inc. DC cooled linear motor
JPH11164542A (ja) * 1997-09-17 1999-06-18 Minolta Co Ltd リニアモータ及び画像読み取り装置
JP3700915B2 (ja) * 1998-05-12 2005-09-28 株式会社安川電機 リニアモータ
JP3832556B2 (ja) * 2000-02-25 2006-10-11 株式会社安川電機 キャンド・リニアモータ
KR100720753B1 (ko) * 2000-04-19 2007-05-22 가부시키가이샤 야스카와덴키 영구자석형 동기 리니어모터
EP1311056B1 (fr) * 2000-06-19 2010-03-17 Kabushiki Kaisha Yaskawa Denki Moteur lineaire
CN2447981Y (zh) * 2000-09-26 2001-09-12 大银微系统股份有限公司 无铁心式线性马达
TWI245482B (en) * 2000-11-21 2005-12-11 Yaskawa Electric Corp Linear motor
JP3660234B2 (ja) * 2000-11-21 2005-06-15 アスモ株式会社 モータ部品の製造方法
JP4556229B2 (ja) * 2000-11-21 2010-10-06 株式会社安川電機 コアレスリニアモータ
JP3870413B2 (ja) * 2002-08-20 2007-01-17 株式会社安川電機 コアレスリニアモータ
JP4517278B2 (ja) * 2004-01-20 2010-08-04 株式会社安川電機 コアレスリニアモータおよびキャンド・リニアモータ
US7242117B2 (en) * 2004-11-25 2007-07-10 Sanyo Denki Co., Ltd. Linear motor

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB2233835A (en) * 1989-07-15 1991-01-16 Matsushita Electric Works Ltd Commutated moving-cell linear motor
JP2001078420A (ja) * 1999-08-13 2001-03-23 Mire Kk 可動電機子型リニアモータとその電機子及びその電機子の組立方法
JP2002051530A (ja) * 2000-07-11 2002-02-15 Hiwin Mikrosystem Corp リニアモーター

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
See also references of WO2004019470A1 *

Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2009019192A1 (fr) * 2007-08-03 2009-02-12 Siemens Aktiengesellschaft Partie primaire d'un moteur linéaire électrique dotée d'un dispositif de refroidissement
CN102142761A (zh) * 2010-02-02 2011-08-03 未来产业株式会社 直线电机用动子及其制造方法、包含该动子的直线电机
CN102142761B (zh) * 2010-02-02 2013-09-11 未来产业株式会社 直线电机用动子及其制造方法、包含该动子的直线电机
EP2808986A1 (fr) * 2013-05-27 2014-12-03 Etel S. A.. Corps de refroidissement pour moteur linéaire
WO2014191129A1 (fr) * 2013-05-27 2014-12-04 Etel S.A. Dissipateur thermique pour moteur linéaire
US9777972B2 (en) 2013-05-27 2017-10-03 Etel S.A. Heat sink for a linear motor

Also Published As

Publication number Publication date
CN1675818A (zh) 2005-09-28
JP2004080938A (ja) 2004-03-11
WO2004019470A1 (fr) 2004-03-04
KR20050058328A (ko) 2005-06-16
KR100785192B1 (ko) 2007-12-11
DE60332251D1 (de) 2010-06-02
US20060175907A1 (en) 2006-08-10
EP1544988B1 (fr) 2010-04-21
CN100438281C (zh) 2008-11-26
US7531923B2 (en) 2009-05-12
TW200409439A (en) 2004-06-01
JP3870413B2 (ja) 2007-01-17
TWI288521B (en) 2007-10-11
EP1544988A4 (fr) 2008-07-02

Similar Documents

Publication Publication Date Title
US7531923B2 (en) Coreless linear motor
JP3814288B1 (ja) リアクトル
KR100702821B1 (ko) 리니어 모터의 코일 조립체 및 그 제조 방법
EP2458714B1 (fr) Cale pour stator d'un générateur avec enroulements préformés de bobine
US7952237B2 (en) Primary part having a cover for a linear motor
US6731029B2 (en) Canned linear motor
US7339290B2 (en) Linear motor
US9118237B2 (en) Mover for a linear motor and linear motor
JP5418558B2 (ja) リニアモータの固定子およびリニアモータ
TWI338431B (fr)
JP4527826B2 (ja) 高推力リニアモータ及びその製造方法
JP4512874B2 (ja) リニアモータおよび前記リニアモータの製作方法
JP3849128B2 (ja) リニアモータ
JP4480937B2 (ja) リニアモータおよび前記リニアモータの製作方法
JPH10323012A (ja) リニアモータ
US8154156B2 (en) Coil assembly for linear motor
JP4514112B2 (ja) 単軸ロボット
JP5172199B2 (ja) ステータ
JP2006149027A (ja) ステータ用絶縁部材およびそれを備えた回転機
JP4541035B2 (ja) モータ
JP5604499B2 (ja) 無鉄心リニアモーターのコイルアッセンブリ及びその単コイル
JP2006014391A (ja) リニアモータ電機子、リニアモータおよび平面モータ
JP4105586B2 (ja) リニアモータ式単軸ロボット
JP2004289958A (ja) リニアモータ用永久磁石配列体とこれを用いたリニアモータ
JP2002112523A (ja) リニアモータの可動コイル

Legal Events

Date Code Title Description
PUAI Public reference made under article 153(3) epc to a published international application that has entered the european phase

Free format text: ORIGINAL CODE: 0009012

17P Request for examination filed

Effective date: 20050214

AK Designated contracting states

Kind code of ref document: A1

Designated state(s): AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HU IE IT LI LU MC NL PT RO SE SI SK TR

RBV Designated contracting states (corrected)

Designated state(s): CH DE LI

A4 Supplementary search report drawn up and despatched

Effective date: 20080603

17Q First examination report despatched

Effective date: 20090427

GRAP Despatch of communication of intention to grant a patent

Free format text: ORIGINAL CODE: EPIDOSNIGR1

GRAS Grant fee paid

Free format text: ORIGINAL CODE: EPIDOSNIGR3

GRAA (expected) grant

Free format text: ORIGINAL CODE: 0009210

AK Designated contracting states

Kind code of ref document: B1

Designated state(s): CH DE LI

REG Reference to a national code

Ref country code: CH

Ref legal event code: NV

Representative=s name: BOVARD AG PATENTANWAELTE

Ref country code: CH

Ref legal event code: EP

REF Corresponds to:

Ref document number: 60332251

Country of ref document: DE

Date of ref document: 20100602

Kind code of ref document: P

PLBE No opposition filed within time limit

Free format text: ORIGINAL CODE: 0009261

STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: NO OPPOSITION FILED WITHIN TIME LIMIT

26N No opposition filed

Effective date: 20110124

REG Reference to a national code

Ref country code: CH

Ref legal event code: PFA

Owner name: KABUSHIKI KAISHA YASKAWA DENKI

Free format text: KABUSHIKI KAISHA YASKAWA DENKI#2-1, KUROSAKI-SHIROISHI, YAHATANISHI-KU#KITAKYUSHU-SHI, FUKUOKA 806-0004 (JP) -TRANSFER TO- KABUSHIKI KAISHA YASKAWA DENKI#2-1, KUROSAKI-SHIROISHI, YAHATANISHI-KU#KITAKYUSHU-SHI, FUKUOKA 806-0004 (JP)

PGFP Annual fee paid to national office [announced via postgrant information from national office to epo]

Ref country code: DE

Payment date: 20160802

Year of fee payment: 14

Ref country code: CH

Payment date: 20160812

Year of fee payment: 14

REG Reference to a national code

Ref country code: DE

Ref legal event code: R119

Ref document number: 60332251

Country of ref document: DE

REG Reference to a national code

Ref country code: CH

Ref legal event code: PL

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: CH

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20170831

Ref country code: LI

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20170831

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: DE

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20180301